Vehicle control system and network domain controller

Abstract

The invention provides a vehicle control system and a network domain controller. The vehicle control system comprises a network connection domain controller, wherein a communication module, a network exchange chip and a data storage chip are integrated in the network connection domain controller; wherein the communication module is configured to communicate with external equipment and a cloud; the network switching chip is configured to convert a network protocol; the data storage chip is configured to record and store operation data of the vehicle. According to the vehicle control system provided by the invention, the system architecture is simple, the number of wire harnesses is small, the power consumption is reduced, the occupied space of the system is reduced, the system is convenient to install and maintain, the cost is effectively reduced, and the overall reliability of the system is improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of unmanned, autonomous driving, unmanned vehicle, in particular to a vehicle control system and a networked domain controller. BACKGROUND

[0002] At present, the intelligent control system of a vehicle usually adopts a distributed architecture, which has some obvious defects. For example, the reliability is poor and the failure rate is high under continuous vibration and harsh working conditions of the vehicle, and meanwhile, multiple independent controllers result in high system cost, large number of parts, large layout space occupation and complex installation and maintenance. SUMMARY

[0003] Therefore, the embodiments of the present application provide a vehicle control system and a networked domain controller to simplify the system architecture and reduce the system cost.

[0004] In a first aspect, an embodiment of the present application provides a vehicle control system, comprising a networked domain controller, wherein the networked domain controller is internally integrated with a communication module, a network switching chip and a data storage chip; wherein the communication module is configured to communicate with external devices and the cloud; the network switching chip is configured to convert network protocols; and the data storage chip is configured to record and store running data of the vehicle.

[0005] In combination with the first aspect, in some implementation manners of the first aspect, the vehicle control system further comprises a laser radar and an autonomous driving domain controller, and the networked domain controller is provided with a first type interface and a second type interface; wherein the first type interface is electrically connected with the network switching chip and the laser radar, so as to input the communication protocol data adopted by the laser radar to the network switching chip for conversion; and the second type interface is electrically connected with the network switching chip and the autonomous driving domain controller, so as to send the converted communication protocol data adopted by the laser radar from the network switching chip to the autonomous driving domain controller.

[0006] In combination with the first aspect, in some implementation manners of the first aspect, the networked domain controller and the autonomous driving domain controller are further connected through a CAN bus communication, so as to jointly constitute a double communication link between the networked domain controller and the autonomous driving domain controller with the second type interface.

[0007] In combination with the first aspect, in some implementation manners of the first aspect, the first type interface is an industrial Ethernet interface, and the second type interface is a vehicle-mounted Ethernet interface.

[0008] In combination with the first aspect, in some implementation manners of the first aspect, the physical connector adopted by the first type interface is a vehicle-grade connector.

[0009] With reference to the first aspect, in some implementations of the first aspect, the network switch chip is configured to apply a virtual local area network technology to establish a directed route between the first type of interface and the second type of interface.

[0010] With reference to the first aspect, in some implementations of the first aspect, the communication module comprises a cellular mobile communication unit and a V2X communication unit, and the networked domain controller is provided with a cellular mobile communication antenna interface and a V2X antenna interface; wherein the cellular mobile communication unit is electrically connected to the cellular mobile communication antenna interface to realize communication between the vehicle and the cloud through the cellular mobile communication antenna interface; and the V2X communication unit is electrically connected to the V2X antenna interface to realize communication between the vehicle and the external device through the V2X antenna interface.

[0011] With reference to the first aspect, in some implementations of the first aspect, the networked domain controller is provided with a CAN interface; wherein the CAN interface is electrically connected to the data storage chip to store the collected CAN bus data of the vehicle chassis to the data storage chip; and the data storage chip is electrically connected to the communication module to directly send the stored CAN bus data to the cloud through the communication module.

[0012] With reference to the first aspect, in some implementations of the first aspect, the networked domain controller is provided with a CAN interface; wherein the CAN interface is electrically connected to the data storage chip to store the collected CAN bus data of the vehicle chassis to the data storage chip; and the data storage chip is electrically connected to the communication module to directly send the stored CAN bus data to the cloud through the communication module.

[0013] With reference to the first aspect, in some implementations of the first aspect, the networked domain controller adopts a vehicle-grade chip.

[0014] The second aspect, an embodiment of the present application provides a networked domain controller, comprising: a communication module, a network switch chip and a data storage chip; wherein the communication module is configured to communicate with external devices and the cloud; the network switch chip is configured to convert network protocols; and the data storage chip is configured to record and store running data of the vehicle.

[0015] The vehicle control system provided by the present application integrates the communication module, the network switch chip and the data storage chip in a single networked domain controller, and realizes the functions of communication with external devices and the cloud, conversion of network protocols and recording of running data by means of a single controller only, so that the system architecture is simple, the number of wire harnesses is small, the power consumption is reduced, the occupied space of the system is reduced, and the system installation and maintenance are facilitated; the problem of high system cost and large number of parts caused by independent control by multiple independent controllers is solved, the cost is effectively reduced, and the overall reliability of the system is improved. BRIEF DESCRIPTION OF DRAWINGS

[0016] The above and other objects, features and advantages of the present application will become more apparent from the following detailed description of the application when taken in conjunction with the accompanying drawings. The drawings provided in the present application are used to provide further understanding of the embodiments of the present application, and constitute a part of the specification, and are used to explain the present application together with the embodiments of the present application, and do not constitute a limitation of the present application. In the drawings, the same reference numerals generally indicate the same components or steps throughout the drawings.

[0017] Figure 1 A structural schematic diagram of a vehicle control system provided by the prior art is shown.

[0018] Figure 2 A structural schematic diagram of a vehicle control system provided by the present application is shown.

[0019] Figure 3 A smart system framework diagram based on a networked domain controller provided by the present application is shown.

[0020] Figure 4 A structural schematic diagram of a networked domain controller provided by the present application is shown.

[0021] Figure 5 A structural schematic diagram of another networked domain controller provided by the present application is shown. DETAILED DESCRIPTION

[0022] The technical solutions in the embodiments of the present application will be described clearly and completely below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only some of the embodiments of the present application, but not all the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative work fall within the scope of protection of the present application.

[0023] The vehicle control system provided by the embodiments of the present application can be used to control an unmanned wide-body transport vehicle. In the prior art, the vehicle control system of the unmanned wide-body transport vehicle is composed of a laser radar, a combined navigation, an automatic driving domain controller, a vehicle data recorder, a vehicle-mounted unit, a 5G (5th Generation mobile communication technology) terminal and the like. The vehicle control system undertakes important functions related to unmanned driving such as perception, positioning, decision-making, networking and data storage.

[0024] Figure 1 A structural schematic diagram of a vehicle control system provided by the prior art is shown. As shown in FIG. 1, the vehicle control system of the prior art is composed of a laser radar 101, a combined navigation 102, an automatic driving domain controller 103, a vehicle data recorder 104, a vehicle-mounted unit 105 and a 5G terminal 106. Figure 1As shown, the switch connects the on-board unit, the 5G terminal, the vehicle data recorder and the automatic driving domain controller, the automatic driving domain controller is connected with the laser radar and the integrated navigation respectively to realize the automatic driving function. The on-board unit is connected with the V2X antenna and is responsible for V2X communication; the 5G terminal is connected with the 5G antenna and is responsible for vehicle cloud communication. The automatic driving domain controller and the vehicle data recorder are in communication connection with the chassis of the vehicle, the vehicle data recorder stores the vehicle operation data and can transmit the vehicle operation data to the cloud for engineers to download and analyze through the 5G terminal, the protocol conversion box is connected with the laser radar and the intelligent driving data recorder respectively and is responsible for converting network protocols. The devices cooperate with each other through data transmission to complete the unmanned driving control of the vehicle. Therefore, the reliability of each device in the system determines the operation efficiency of the vehicle and affects the safety of the vehicle.

[0025] However, the vehicle control system proposed in the prior art includes the protocol conversion box, the switch, the on-board unit and the 5G terminal and other controller-type devices, each of which has a single function and includes a main control chip, a printed circuit board assembly (PCBA) and a shell. When producing the devices, each device needs to go through hardware development, software design and shell mold opening, which not only causes excessive computing power but also has a high total cost. Moreover, the system includes multiple independent controllers, which leads to high system cost, large number of parts, large layout space occupation and complex installation and maintenance.

[0026] Therefore, the present application provides a new architecture of a vehicle control system to solve the above problems.

[0027] Figure 2 As shown in the structure schematic diagram of the vehicle control system provided by the present application. As shown in the structure schematic diagram of the vehicle control system provided by the present application. Figure 2 As shown, the system includes a networked domain controller 100, the networked domain controller 100 internally integrates a communication module 101, a network switching chip 102 and a data storage chip 103. The communication module 101 is configured to communicate with external devices and the cloud; the network switching chip 102 is configured to convert network protocols; and the data storage chip 103 is configured to record and store the operation data of the vehicle.

[0028] Optionally, the networked domain controller adopts a vehicle-grade chip. The vehicle-grade chip has higher stability and reliability, which reduces the risk of system failure caused by chip failure during vehicle driving. Correspondingly, the networked domain controller adopting the vehicle-grade chip can better adapt to the complex and harsh operating environment of the vehicle.

[0029] For example, the communication module 101 includes a cellular mobile communication unit, a V2X communication unit, and a Wireless Fidelity (WiFi) communication unit. Exemplarily, the cellular mobile communication unit includes a 4th Generation mobile communication technology (4G) communication unit and a 5G communication unit, through which high-speed data transmission between the vehicle and the cloud can be realized. The V2X communication unit supports information interaction between vehicles, vehicles and infrastructure, and vehicles and pedestrians, thereby enhancing driving safety and traffic efficiency. Exemplarily, instructions sent by the operation platform are received through the 5G communication unit to update the map data, and real-time data sharing with surrounding vehicles and infrastructure is performed through the V2X communication unit.

[0030] In actual application, since the external devices connected with the automatic driving domain controller are mostly industrial products, the development is relatively backward. However, the automatic driving domain controller develops rapidly, which leads to the problem that the communication protocols adopted by the automatic driving domain controller and the external devices are not matched. To solve this problem, ensure the normal work of the automatic driving domain controller, and improve the compatibility of the system architecture, the network connection domain controller 100 includes a network switching chip 102, which is configured to convert network protocols.

[0031] Optionally, the network switching chip 102 includes a Switch chip, and the network switching chip 102 can provide multiple interfaces to support high-speed data exchange with external devices. Exemplarily, the network switching chip 102 is connected with vehicle-mounted cameras and sensors such as radars through interfaces, for receiving data collected by the sensors and converting network protocols, so as to forward the data after the network protocol conversion. Since the network protocol is converted through the Switch chip, hardware conversion is not adopted, so the computing power of the microcontroller is not occupied, and even in harsh working conditions of gigabit transmission requirements, there is no pressure, which is beneficial to reduce the cost.

[0032] The data storage chip 103 is configured to record and store the running data of the vehicle. In some embodiments, the data storage chip 103 is connected with the vehicle chassis, for recording and storing the running data of the vehicle transmitted by the vehicle chassis. Exemplarily, the data storage chip 103 stores the running data transmitted by the vehicle chassis in real time, so that after the vehicle chassis fails, the operation and maintenance personnel can troubleshoot according to the running data recorded in the data storage chip 103, thereby improving the efficiency of fault solving.

[0033] Optionally, the data storage chip 103 comprises an Embedded MultiMediaCard (eMMC) chip. The eMMC chip has the advantages of small size, low power consumption, fast data transmission speed, and can stably save a large amount of data, and can ensure the integrity and security of the data even in the complex operating environment of the vehicle.

[0034] In some embodiments, a Microcontroller Unit (MCU) is further integrated inside the networked domain controller 100, and the communication module 101, the network switching chip 102 and the data storage chip 103 are respectively connected with the MCU, and the MCU is used to control and manage the communication module 101, the network switching chip 102 and the data storage chip 103.

[0035] The vehicle control system provided in the present application integrates the communication module, the network switching chip and the data storage chip in a single network domain controller, and only uses a single controller to realize the functions of communication with external devices and the cloud, conversion of network protocols and recording of running data, so that the system architecture is simple, the number of wiring harnesses is small, the power consumption is reduced, the occupied space of the system is reduced, and the system installation and maintenance are facilitated; the problem of high system cost and large number of parts caused by independent control using multiple independent controllers is solved, the cost is effectively reduced, and the overall reliability of the system is improved.

[0036] In order to realize the function of unmanned driving, in some embodiments, the vehicle control system further comprises a laser radar and an automatic driving domain controller, and the networked domain controller is provided with a first type interface and a second type interface. The first type interface is electrically connected with the network switching chip and the laser radar, so as to input the communication protocol data adopted by the laser radar into the network switching chip for conversion; the second type interface is electrically connected with the network switching chip and the automatic driving domain controller, so as to send the converted communication protocol data adopted by the laser radar from the network switching chip to the automatic driving domain controller.

[0037] Specifically, the laser radar is used to collect environmental information and generate perception data. The automatic driving domain controller is used to receive the perception data of the laser radar, the positioning data of the combined navigation, the map data and the instructions sent by the networked domain controller, and form instructions to be sent to the vehicle chassis, and the vehicle chassis executes the motion control of the vehicle.

[0038] In the embodiment, the first type interface matches the type of the communication protocol used by the laser radar, and the second type interface matches the type of the communication protocol used by the automatic driving domain controller. The reason for such design is that the laser radar usually uses a specific high-speed communication protocol, such as industrial Ethernet, for real-time data transmission, while the automatic driving domain controller can use a different control protocol, such as a vehicle Ethernet protocol. Therefore, the first type interface is needed to ensure accurate reception and analysis of laser radar data, and the second type interface is needed to adapt to the control protocol used by the automatic driving domain controller.

[0039] The embodiment of the application provides a specific conversion mode of communication protocol data, which can realize data conversion and transmission between different communication protocols. The system can be compatible with different devices, which is beneficial to improve the reliability of system communication, and enhance the stability and scalability of the system.

[0040] Optionally, the communication protocol data used by the laser radar is industrial Ethernet data, the automatic driving domain controller uses a vehicle Ethernet protocol, the first type interface is an industrial Ethernet interface, and the second type interface is a vehicle Ethernet interface, so as to realize electrical connection between the laser radar and the network switch chip through the industrial Ethernet interface, and realize electrical connection between the automatic driving domain controller and the network switch chip through the vehicle Ethernet interface.

[0041] It should be noted that the data transmitted by the laser radar is usually industrial Ethernet data, and since the laser radar industry develops relatively slowly, some laser radars do not support the vehicle Ethernet protocol, while the automatic driving domain controller develops relatively quickly and usually has the vehicle Ethernet protocol, so that the data transmitted by the laser radar cannot be recognized by the automatic driving domain controller. In order to ensure the normal work of the system, the network switch chip integrated in the network-connected domain controller is needed to convert the industrial Ethernet data transmitted by the laser radar into vehicle Ethernet data that can be processed by the automatic driving domain controller.

[0042] In specific implementation, the industrial Ethernet data used by the laser radar is transmitted to the network switch chip through the industrial Ethernet interface, the network switch chip converts the industrial Ethernet data to obtain vehicle Ethernet data through protocol conversion, and the network switch chip transmits the converted vehicle Ethernet data to the automatic driving domain controller through the vehicle Ethernet interface, so as to realize data communication between the laser radar and the automatic driving domain controller.

[0043] The embodiment of the application meets the demand of the laser radar for data transmission through the industrial Ethernet interface; ensures that the automatic driving domain controller can accurately receive and process the data converted by the protocol, so as to realize efficient cooperation between the environment information collected by the laser radar and the automatic driving domain controller, and solve the problem of incompatible communication protocols between the laser radar and the automatic driving domain controller. At the same time, in the actual vehicle operation process, the road condition data captured by the laser radar in real time is quickly transmitted into the network switching chip through the industrial Ethernet interface, and is transmitted to the automatic driving domain controller in the format of the vehicle-mounted Ethernet protocol after protocol conversion, thereby providing timely and reliable data support for the automatic driving function of the vehicle, and effectively improving the response speed and driving safety of the vehicle under complex working conditions.

[0044] In some other embodiments, the vehicle control system further comprises a smart driving data recorder. A large amount of video and log in the automatic driving domain controller need to be recorded, and the smart driving data recorder is used to record and store the data processed by the automatic driving domain controller.

[0045] In actual application, the current smart driving data recorder does not support the vehicle-mounted Ethernet interface, so that when the smart driving data recorder and the automatic driving domain controller transmit data, the protocol conversion box needs to be used for protocol conversion, which complicates the system structure and increases the cost.

[0046] In order to further simplify the structure of the vehicle control system, the network connection domain controller is provided with an interface connected with the automatic driving domain controller and an interface connected with the smart driving data recorder. The vehicle-mounted Ethernet data output by the automatic driving domain controller is transmitted to the network switching chip through the corresponding interface, the network switching chip converts the data into protocol data suitable for the smart driving data recorder through protocol conversion, and then the converted data is transmitted to the smart driving data recorder through the interface connected with the smart driving data recorder, so as to realize the recording and storage of data. In this way, no additional protocol conversion box is needed, which simplifies the system structure and reduces the cost.

[0047] In order to ensure that the network connection domain controller and the automatic driving domain controller can normally communicate, and avoid system abnormalities caused by communication failure, in some embodiments, the network connection domain controller and the automatic driving domain controller are further connected through a CAN bus communication, so as to jointly constitute a double communication link between the network connection domain controller and the automatic driving domain controller with the second type of interface.

[0048] Through the communication between the networked domain controller and the autonomous driving domain controller, the cooperative control and information interaction of the driving function can be realized. Specifically, the networked domain controller transmits the acquired environmental information, cloud instructions and running data to the autonomous driving domain controller in real time, providing multi-dimensional data support for its decision-making. At the same time, the vehicle control instructions generated by the autonomous driving domain controller can also be fed back to the networked domain controller, which records or uploads the data to the cloud by the networked domain controller, forming a closed-loop information interaction mechanism to ensure the stable implementation of the driving function in complex scenarios.

[0049] In some embodiments, in order to ensure that the data interaction between the autonomous driving domain controller and the networked domain controller is efficient and stable, and to avoid data transmission interruption caused by failure of a single communication link, in addition to transmitting data through the second type interface, a Controller Area Network (CAN) bus communication connection is additionally established between the networked domain controller and the autonomous driving domain controller. As a mature vehicle communication protocol, CAN bus has the characteristics of high reliability, strong real-time performance and outstanding anti-interference ability, and can work stably in the complex electromagnetic environment of the vehicle. Through the design of dual communication links, when one of the links is abnormal, the other link can immediately take over the data transmission task, ensuring that data can continuously and accurately flow between the two controllers, effectively improving the fault tolerance and operation stability of the entire vehicle control system, and providing communication guarantee for the safe implementation of the unmanned driving function.

[0050] For example, when the second type interface fails or has communication abnormalities, data can be transmitted through the CAN bus to ensure uninterrupted data transmission between the networked domain controller and the autonomous driving domain controller. For example, the networked domain controller and the autonomous driving domain controller are connected through an MCU, i.e. the networked domain controller is connected with the MCU, and the MCU is connected with the autonomous driving domain controller through the second type interface and the CAN bus respectively, to form a dual communication link. The MCU is configured to detect whether the second type interface has a fault and whether the communication link corresponding to the second type interface has a communication abnormality; if a fault or a communication abnormality is detected, when the data transmitted by the networked domain controller is received again, it is transmitted to the autonomous driving domain controller through the CAN bus.

[0051] Further, the networked domain controller or the autonomous driving domain controller can also simultaneously receive data transmitted by the second type interface and the CAN bus, and cross-check the data transmitted by the two communication links. Through this dual-channel parallel receiving mechanism, the system can compare and cross-verify the data transmitted by the two independent communication links. When one of the communication links has signal loss, data error or transmission interruption, etc. abnormal situation, the system can immediately detect the abnormality and automatically switch to the normal communication link, ensuring the continuous and stable transmission of data. This fault-tolerant mechanism effectively avoids single-point failure risk, providing double protection for the vehicle control system, so as to maintain the safe and stable operation of the vehicle in various complex working conditions.

[0052] The embodiments of the present application enhance the communication reliability and stability between the networked domain controller and the autonomous driving domain controller by setting up dual communication links, ensuring uninterrupted data transmission between the networked domain controller and the autonomous driving domain controller, and ensuring that the vehicle control system still maintains an efficient and stable operating state in complex vehicle operating environments.

[0053] In some embodiments, the physical connector used by the first type interface is a vehicle-grade connector. Since the vehicle-grade connector has high reliability, vibration resistance, impact resistance and adaptability to harsh environments, it can meet various complex working conditions faced by the vehicle during driving, avoid poor contact and loose damage, etc. to ensure stable and reliable connection between the lidar and the network switch chip, and ensure that data can be accurately transmitted to the network switch chip.

[0054] In combination with the foregoing embodiments, in some other embodiments of the present application, the network switch chip is configured to apply virtual local area network technology to establish a directed route between the first type interface and the second type interface. It should be noted that the virtual local area network technology is a technology for dividing a physical network into multiple logical networks. Each virtual subnet is like an independent physical network and has its own broadcast domain. By applying virtual local area network technology, a directed route is established between the first type interface and the second type interface, and data flow isolation of the first type interface and the second type interface is achieved.

[0055] For example, through the virtual local area network technology, the industrial Ethernet data transmitted by the lidar and the vehicle-mounted Ethernet data required by the autonomous driving domain controller are respectively divided into different virtual subnets, thereby effectively isolating different types of data and reducing data interference and conflict.

[0056] The embodiments of the present application improve data transmission efficiency, reduce data interference and conflict, and improve network security, thereby ensuring the safe and efficient operation of the vehicle.

[0057] In combination with the foregoing, the communication module includes a cellular mobile communication unit and a V2X communication unit, and the networked domain controller is provided with a cellular mobile communication antenna interface and a V2X antenna interface. The cellular mobile communication unit is electrically connected to the cellular mobile communication antenna interface, so as to realize communication between the vehicle and the cloud through the cellular mobile communication antenna interface; and the V2X communication unit is electrically connected to the V2X antenna interface, so as to realize communication between the vehicle and external devices through the V2X antenna interface.

[0058] It should be noted that the cellular mobile communication unit has multiple communication modes, such as supporting different generations of mobile communication technologies such as 4G and 5G, and can automatically switch to the optimal communication mode according to the network coverage of the vehicle driving area, so as to guarantee the continuity and stability of data transmission between the vehicle and the cloud. In some embodiments, the cellular mobile communication unit also supports multi-band communication, which can adapt to different communication frequency band standards in different regions, improving the applicability of the networked domain controller in different regions. In addition, the cellular mobile communication unit is built-in with a signal enhancement module, which can automatically start the signal enhancement function when the vehicle drives into a tunnel, mountainous area or other area with weak signal, reducing the problem of data transmission interruption caused by signal attenuation, and ensuring that the real-time monitoring and remote control instructions of the cloud to the vehicle can be accurately issued.

[0059] The V2X communication unit has the communication characteristics of low delay and high reliability, and can realize real-time information interaction between the vehicle and other vehicles, pedestrians, traffic infrastructure and other entities in the surrounding environment. In some embodiments, the V2X communication unit supports two communication technologies, Dedicated Short Range Communications (DSRC) and Cellular Vehicle-to-Everything (C-V2X), which can flexibly select the communication mode according to the actual application scene and communication demand. For example, in an open scene such as a highway, the C-V2X technology can obtain congestion information, accident warning and other contents in front of the road in advance due to its longer communication distance and higher mobility support. In the complex urban traffic environment, the low delay characteristic of the DSRC technology can guarantee the fast information interaction between the vehicle and the traffic signal at the intersection, and assist the vehicle to make more reasonable traffic decisions. In addition, the V2X communication unit also has anti-interference capability, which can effectively resist external electromagnetic interference and malicious attacks through the use of frequency hopping technology and data encryption algorithm, and ensure the authenticity and integrity of the interaction information, providing multi-dimensional information support for the safe driving of the vehicle.

[0060] Specifically, in the embodiment, the V2X antenna interface is connected with the V2X antenna to realize communication between the vehicle and external devices. For example, the V2X antenna interface communicates with external vehicles and infrastructure to realize data sharing. The cellular mobile antenna interface is connected with the cellular mobile antenna and can establish communication with the cloud. For example, the cloud sends control instructions to the cellular mobile antenna interface through the cellular mobile antenna connection, which is transmitted to the MCU through the cellular mobile antenna interface, so that the MCU controls the vehicle to work based on the control instructions. Exemplarily, the cellular mobile antenna interface includes a 5G interface and a 4G interface.

[0061] Optionally, the number of cellular mobile communication antenna interfaces and V2X antenna interfaces can be multiple to provide multi-channel transmission. For example, the V2X antenna interface adopts a 2Transmit, 2Receive (2T2R) configuration and is connected with the V2X antenna. Optionally, the number of cellular mobile antenna interfaces can be 4, which are respectively connected with cellular mobile antennas of different frequency bands to realize multi-frequency and multi-channel data transmission.

[0062] The embodiment of the application realizes communication between the vehicle and the cloud and external devices by setting the cellular mobile communication antenna interface and the V2X antenna interface in the networked domain controller, so as to meet the demand of the vehicle for data transmission in different scenarios.

[0063] In combination with the foregoing, in order to facilitate management of vehicle operation data, the networked domain controller is provided with a CAN interface. The CAN interface is electrically connected with a data storage chip to store the collected CAN bus data of the vehicle chassis to the data storage chip, and the data storage chip is electrically connected with a communication module to directly send the stored CAN bus data to the cloud through the communication module.

[0064] Optionally, the number of CAN interfaces can be multiple. In addition, in the embodiment, the CAN interface can adopt a vehicle-grade interface, support a communication rate of 500 kb / s, be compatible with CAN2.0A / B protocols, and the terminal resistance can be configured.

[0065] Exemplarily, the data storage chip is a CAN recorder, and the CAN interface is connected with the CAN recorder. The CAN bus data of the vehicle chassis is stored to the CAN recorder through the CAN interface. The communication module is a 5G communication module. When receiving a data acquisition instruction sent by the cloud or when the current time is the preset sending time, the CAN recorder sends the CAN bus data to the cloud through the CAN interface. For example, when the current time is the preset sending time or when the driving mileage of the vehicle reaches a set value, the CAN recorder will automatically trigger the data uploading process, and send the stored CAN bus data to the cloud after being packaged and encrypted through the 5G communication unit. In addition, if a data acquisition instruction is received from the cloud, the CAN recorder will immediately respond, process the instruction and upload the CAN bus data in priority, so as to ensure that the cloud can timely grasp the running data of the vehicle chassis. The running data includes vehicle speed, rotation speed, brake pressure and steering angle, and provides data support for fault diagnosis, remote monitoring and driving behavior analysis of the vehicle.

[0066] It should be noted that, as shown in Figure 1 When the CAN bus data is sent to the cloud, it needs to be transmitted from the CAN recorder to the switch, and the CAN bus data is transmitted from the switch to the vehicle-mounted unit, and then the CAN bus data is transmitted to the cloud through the 5G communication unit, Figure 1 The data pulling link shown in is long, and the communication efficiency is low.

[0067] In the embodiment of the present application, the CAN interface is arranged, and the CAN bus data is directly transmitted to the cloud through the networked domain controller, and the data link is shortened. In order to ensure that the vehicle is remotely woken up, sleeps and pulls the CAN bus data in sleep, the conventional architecture needs 5G terminal, vehicle-mounted unit, protocol conversion box and CAN recorder to be in the wake-up state, which leads to high static sleep current of the whole vehicle. The system architecture disclosed in the present application only needs the networked domain controller to be in the wake-up state, which reduces the system power consumption; improves the data communication efficiency, realizes the effective collection and storage of the running data of the vehicle, and can send the data to the cloud in time by means of the communication module, so as to facilitate the centralized management and analysis of the running data.

[0068] In combination with the foregoing, the vehicle control system further comprises a combined navigation, which is directly communicated with the automatic driving domain controller, so as to send the positioning data of the vehicle to the automatic driving domain controller.

[0069] In this embodiment, the integrated navigation may include a Global Navigation Satellite System (GNSS) and an Inertial Measurement Unit (IMU). GNSS can receive positioning signals from multiple satellites, providing the vehicle with centimeter-level absolute position information. However, in scenarios with signal obstruction, the signal is susceptible to interference, leading to decreased positioning accuracy or even failure. In such cases, the IMU uses its internal accelerometer and gyroscope to perceive the vehicle's motion state in real time, such as acceleration and angular velocity, providing short-term high-precision relative positioning supplementation when GNSS signals are lost. The two systems combine the long-term stability of GNSS and the short-term high-precision advantage of the IMU through a data fusion algorithm, forming a complementary system that continuously outputs stable and reliable positioning data to the autonomous driving domain controller. For example, the positioning data includes longitude, latitude, elevation, driving speed, and heading angle. This positioning data forms the basis for the autonomous driving domain controller to perform path planning, lane keeping, and lateral and longitudinal vehicle control, ensuring that the vehicle can accurately perceive its position in the road environment.

[0070] Because it supports in-vehicle Ethernet communication protocols, it is directly mounted to the autonomous driving domain controller in this architecture. By establishing a direct communication connection between the integrated navigation system and the autonomous driving domain controller, data transmission efficiency and real-time performance are improved. This connection method allows the autonomous driving domain controller to obtain the latest positioning data in a timely manner, which is beneficial for more accurate vehicle path planning.

[0071] In order to demonstrate the structure of the vehicle control system more intuitively and comprehensively, Figure 3 The diagram shown is a framework diagram of an intelligent system based on a network-connected domain controller provided in this application. Figure 3As shown, the vehicle control system includes a laser radar, a combined navigation, an automatic driving domain controller, a smart driving data recorder, and a networked domain controller. Among them, the automatic driving domain controller is connected with the laser radar and the combined navigation through the vehicle Ethernet communication, so as to obtain the perception data generated by the laser radar and the positioning data sent by the combined navigation. The automatic driving domain controller communicates with the vehicle chassis through the CAN bus in both directions, so as to receive the running data of the vehicle transmitted by the vehicle chassis and send instructions to the vehicle chassis. The networked domain controller communicates with the vehicle chassis through the CAN bus in one direction, and is also connected with the laser radar through the vehicle Ethernet. Moreover, in order to facilitate the automatic driving domain controller to transmit data to the smart driving data recorder, the automatic driving domain controller is connected with the networked domain controller through the vehicle Ethernet, and the networked domain controller is provided with a vehicle-grade plug-in to facilitate the connection with the smart driving data recorder through the industrial Ethernet. In the specific implementation process, the automatic driving domain controller transmits the vehicle Ethernet data to the networked domain controller; the networked domain controller converts the vehicle Ethernet data into industrial Ethernet data, and transmits the industrial Ethernet data to the smart driving data recorder through the vehicle-grade interface and the industrial Ethernet deployed on the networked domain controller, so as to store and record the data.

[0072] In addition, the networked domain controller can realize communication between the vehicle and the cloud through the 5G antenna, and realize communication between the vehicle and the external equipment through the V2X antenna.

[0073] Figure 4 The structure schematic diagram of the networked domain controller provided by the present application is shown in the figure. Figure 4 As shown, the embodiment of the present application also provides a networked domain controller 100, which comprises a communication module 101, a network switching chip 102 and a data storage chip 103; wherein the communication module 101 is configured to communicate with external equipment and the cloud; the network switching chip 102 is configured to convert network protocols; and the data storage chip 103 is configured to record and store the running data of the vehicle.

[0074] In order to more intuitively and comprehensively show the structure of the networked domain controller, the present application also provides Figure 5 . Specifically, Figure 5 The structure schematic diagram of another networked domain controller provided by the present application is shown in the figure. Figure 5As shown, the communication module 101 can include a 5G communication unit, a V2X communication unit, and a WiFi communication unit. The 5G communication unit is connected with a 5G antenna, the V2X communication unit is connected with a GNSS antenna and a V2X antenna, and the WiFi communication unit is connected with a WiFi antenna. The networked domain controller further includes a power module, a microcontroller, an eMMC chip, a CAN module 1, a CAN module 2, and a network switching chip. Among them, the power module is used to provide stable power supply for each internal module, and realizes power supply and data interaction through an internal bus; the GNSS antenna is used to receive global navigation satellite system signals; the number of V2X antennas is 2, which are respectively used for communication between vehicles and roadside devices; the number of 5G antennas is 4, which are used to realize high-speed 5G communication; the number of vehicle Ethernet interfaces is 4, which are used to connect Ethernet devices inside the vehicle; the number of industrial Ethernet interfaces is 1, which is used to connect external industrial networks; the network switching chip is a Switch chip, which is used to convert network protocols; the microcontroller is used for system control and task scheduling; the eMMC chip is used for data storage; the number of CAN modules is 2, and each CAN module is connected with 4 high-speed CAN interfaces, which are used for high-speed communication with each electronic control unit inside the vehicle.

[0075] Exemplarily, a plurality of interfaces are arranged in the networked domain controller, and the type, purpose, and number of each interface and the like are shown in Table 1.

[0076] Table 1 The networked domain controller provided by the embodiment of the present application is responsible for vehicle-vehicle and vehicle-cloud communication, and is also responsible for connecting communication devices with different Ethernet protocols inside the vehicle together, thereby improving the communication compatibility of the architecture for different electrical devices; the integration degree is high, so that the electrical architecture is more simple and clear; the number of electrical devices of the system is reduced, the number of wire harnesses is reduced, the demand of the system for vehicle layout space is reduced, and the installation workload of the production line is smaller.

[0077] The above describes the basic principles of the present application in combination with specific embodiments, but it should be pointed out that the advantages, advantages, effects and the like mentioned in the present application are only examples and not limitations, and these advantages, advantages, effects and the like cannot be considered as the must-have of each embodiment of the present application. In addition, the above specific details are only for the purpose of example and for the purpose of understanding, and are not limited to the above specific details. The above specific details do not limit the present application to be realized by the above specific details.

[0078] The block diagrams of the devices, apparatuses, equipment, systems referred to in this application are only illustrative examples and are not intended to require or imply that the connection, arrangement, configuration must be as shown in the block diagrams. As those skilled in the art will recognize, these devices, apparatuses, equipment, systems can be connected, arranged, configured in any manner. Words such as "include," "contain," "have," and the like are open-ended words that are intended to mean "including but not limited to," and are to be used interchangeably. The words "or" and "and" as used herein are intended to mean "and / or," and are to be used interchangeably, unless the context clearly indicates otherwise. The word "such as" as used herein is intended to mean "such as but not limited to," and is to be used interchangeably.

[0079] It is also important to note that each of the devices, apparatuses, and methods described in this application can be embodied in a variety of forms, including but not limited to a device, a system, a method, a computer program product, a process, a business method, a data structure, and the like.

[0080] The above description of disclosed aspects is given for illustrative purposes and is not intended to limit the scope of the application. Various modifications to these aspects will be readily apparent to those skilled in the art, and the generic principles defined herein can be applied to other aspects without departing from the scope of the application. Thus, the present application is not intended to be limited to the aspects shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

[0081] The above description has been given for illustrative and descriptive purposes. In addition, this description is not intended to limit the embodiments of the present application to the forms disclosed herein. Although several example aspects and embodiments have been discussed above, those skilled in the art will recognize certain variations, modifications, changes, additions and sub-combinations thereof.

Claims

1. A vehicle control system, characterized in that, This includes a network-connected domain controller, which integrates a communication module, a network switching chip, and a data storage chip; wherein, The communication module is configured to communicate with external devices and the cloud. The network switching chip is configured to convert network protocols; The data storage chip is configured to record and store the vehicle's operating data.

2. The vehicle control system according to claim 1, characterized in that, It also includes LiDAR and an autonomous driving domain controller, wherein the connected domain controller is provided with a first type of interface and a second type of interface; wherein, The first type of interface is electrically connected to the network switching chip and the lidar so as to input the communication protocol data used by the lidar to the network switching chip for conversion; The second type of interface is electrically connected to the network switching chip and the autonomous driving domain controller so as to send the communication protocol data converted by the network switching chip and used by the LiDAR to the autonomous driving domain controller.

3. The vehicle control system according to claim 2, characterized in that, The connected domain controller and the autonomous driving domain controller are also connected via a CAN bus to form a dual communication link between the connected domain controller and the autonomous driving domain controller together with the second type interface.

4. The vehicle control system according to claim 2, characterized in that, The first type of interface is an industrial Ethernet interface, and the second type of interface is an automotive Ethernet interface.

5. The vehicle control system according to claim 2, characterized in that, The physical connector used in the first type of interface is an automotive-grade connector.

6. The vehicle control system according to claim 2, characterized in that, The network switching chip is configured to use virtual LAN technology to establish a directed route between the first type of interface and the second type of interface.

7. The vehicle control system according to any one of claims 1 to 5, characterized in that, The communication module includes a cellular mobile communication unit and a V2X communication unit, and the network domain controller is equipped with a cellular mobile communication antenna interface and a V2X antenna interface; wherein... The cellular mobile communication unit is electrically connected to the cellular mobile communication antenna interface so that communication between the vehicle and the cloud can be realized through the cellular mobile communication antenna interface; The V2X communication unit is electrically connected to the V2X antenna interface so that communication between the vehicle and the external device can be realized through the V2X antenna interface.

8. The vehicle control system according to any one of claims 1 to 5, characterized in that, The network-connected domain controller is equipped with a CAN interface; wherein... The CAN interface is electrically connected to the data storage chip so as to store the collected CAN bus data of the vehicle chassis to the data storage chip. The data storage chip is electrically connected to the communication module so that the stored CAN bus data can be directly sent to the cloud via the communication module.

9. The vehicle control system according to any one of claims 1 to 5, characterized in that, It also includes integrated navigation, which is directly connected to the autonomous driving domain controller to send the vehicle's location data to the autonomous driving domain controller.

10. The vehicle control system according to any one of claims 1 to 5, characterized in that, The connected domain controller uses automotive-grade chips.

11. A network-connected domain controller, characterized in that, include: Communication modules, network switching chips, and data storage chips; among them, The communication module is configured to communicate with external devices and the cloud. The network switching chip is configured to convert network protocols; The data storage chip is configured to record and store the vehicle's operating data.

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